Automatic positioning method and automatic control device

ABSTRACT

An automatic positioning method and an automatic control device are provided. The automatic control device includes a processing unit, a memory unit, and a camera unit to automatically control a robotic arm. When the processing unit executes a positioning procedure, the camera unit obtains a first image of the robotic arm. The processing unit analyzes the first image to establish a three-dimensional working environment model and obtains first spatial positioning data. The processing unit controls the robotic arm to move a plurality of times to sequentially obtain a plurality of second images of the robotic arm by the camera unit and analyzes the second images and encoder information of the robotic arm to obtain second spatial positioning data. The processing unit determines whether an error parameter between the first spatial positioning data and the second spatial positioning data is less than a specification value to end the positioning procedure.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the priority benefit of Taiwan applicationserial no. 107143046, filed on Nov. 30, 2018. The entirety of theabove-mentioned patent application is hereby incorporated by referenceherein and made a part of this specification.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The invention relates to automatic control technologies, and inparticular, to an automatic control device and an automatic positioningmethod that may be used to perform automatic correction.

2. Description of Related Art

Since the whole current manufacturing industry develops towardautomation, a great number of robotic arms are currently used inautomated factories to replace manpower. However, a conventional roboticarm has poor mobility and is inconvenient to deploy, which mainlypursues a speed and precision. Therefore, during replacement or movementof a production line, a lot of time and manpower are required to performrepositioning correction and evaluation. Consequently, the conventionalrobotic arm cannot be applied to a flexible manufacturing process. Inthis regard, solutions are proposed in embodiments below to provide anautomatic control device that can provide an effective automaticpositioning function.

SUMMARY OF THE INVENTION

The invention provides an automatic control device and an automaticpositioning method for accurately positioning a robotic arm.

The automatic control device includes a processing unit and a cameraunit. The camera unit is coupled to the processing unit. When theprocessing unit executes a positioning procedure, the processing unit isconfigured to obtain a first image of the robotic arm. The processingunit obtains a three-dimensional working environment model and firstspatial positioning data. The processing unit controls the robotic armto move a plurality of times to sequentially obtain a plurality ofsecond images of the robotic arm by the camera unit. The processing unitanalyzes the plurality of second images and encoder information of therobotic arm to obtain second spatial positioning data. The processingunit determines whether an error parameter between the first spatialpositioning data and the second spatial positioning data is less than aspecification value to end the positioning procedure.

In an embodiment of the invention, the processing unit analyzes thefirst image to establish the three-dimensional working environment modeland obtain the first spatial positioning data, or another processingunit analyzes the first image to establish the three-dimensional workingenvironment model, obtain the first spatial positioning data, andtransmit the three-dimensional working environment model and the firstspatial positioning data to the processing unit.

In an embodiment of the invention, when executing the positioningprocedure, the processing unit controls the camera unit to move to aposition corresponding to the robotic arm, and operates the camera unitto obtain the first image of the robotic arm.

In an embodiment of the invention, after the camera unit is moved to theposition corresponding to the robotic arm to obtain the first image ofthe robotic arm, the processing unit detects a position of the cameraunit and receives the first image of the robotic arm from the cameraunit.

In an embodiment of the invention, the automatic control device furtherincludes a memory unit. The memory unit is coupled to the processingunit. The memory unit is configured to record a three-dimensionalrobotic arm model of the robotic arm. The processing unit positions avirtual robotic arm in the three-dimensional working environment modelaccording to the three-dimensional robotic arm model and thethree-dimensional working environment model, to obtain the first spatialpositioning data.

In an embodiment of the invention, the processing unit corrects thethree-dimensional robotic arm model according to the encoderinformation.

In an embodiment of the invention, the processing unit controls therobotic arm to move at least three times to sequentially obtain at leastthree second images of the robotic arm by the camera unit.

In an embodiment of the invention, the processing unit respectivelyanalyzes an end feature of the robotic arm in the plurality of secondimages to position the end feature of the robotic arm and obtain thesecond positioning data through an inverse kinematics operation.

In an embodiment of the invention, when the processing unit determinesthat the error parameter between the first spatial positioning data andthe second spatial positioning data is not less than the specificationvalue, the processing unit updates the first spatial positioning dataaccording to the second spatial positioning data, re-controls therobotic arm to move a plurality of times to sequentially obtain anotherplurality of second images of the robotic arm by the camera unit, andperforms repositioning.

In an embodiment of the invention, the camera unit is an RGB-D camera,and the first image includes two-dimensional image information andthree-dimensional image information.

An automatic positioning method of the invention is applicable to anautomatic control device and a robotic arm. The automatic positioningmethod includes the following steps. A first image of a robotic arm isobtained during execution of a positioning procedure by a camera unit. Athree-dimensional working environment model and first spatialpositioning data are obtained by a processing unit. The robotic arm iscontrolled by the processing unit to move a plurality of times tosequentially obtain a plurality of second images of the robotic arm bythe camera unit. The plurality of second images and encoder informationof the robotic arm are analyzed to obtain second spatial positioningdata by the processing unit. Whether an error parameter between thefirst spatial positioning data and the second spatial positioning datais less than a specification value is determined by the processing unitto end the positioning procedure.

In an embodiment of the invention, the step of obtaining, by theprocessing unit, the three-dimensional working environment model and thefirst spatial positioning data includes the following steps. The firstimage is analyzed by the processing unit to establish thethree-dimensional working environment model and obtain the first spatialpositioning data. Or the first image is analyzed by another processingunit to establish the three-dimensional working environment model,obtain the first spatial positioning data, and transmit thethree-dimensional working environment model and the first spatialpositioning data to the processing unit.

In an embodiment of the invention, the step of obtaining, by the cameraunit, the first image of the robotic arm includes the following steps.The camera unit is controlled by the processing unit to move to aposition corresponding to the robotic arm. The camera unit is operatedby the processing unit to obtain the first image of the robotic arm.

In an embodiment of the invention, the step of obtaining, by the cameraunit, the first image of the robotic arm includes the following steps.After the camera unit is moved to the position corresponding to therobotic arm to obtain the first image of the robotic arm, the processingunit detects a position of the camera unit and receives the first imageof the robotic arm from the camera unit.

In an embodiment of the invention, the step of analyzing, by theprocessing unit, the first image to establish the three-dimensionalworking environment model and obtaining the first spatial positioningdata includes the following step. A virtual robotic arm is positioned inthe three-dimensional working environment model according to athree-dimensional robotic arm model recorded in a memory unit and thethree-dimensional working environment model by the processing unit toobtain the first spatial positioning data.

In an embodiment of the invention, the step of analyzing, by theprocessing unit, the first image to establish the three-dimensionalworking environment model and obtaining the first spatial positioningdata further includes the following step. The three-dimensional roboticarm model is corrected according to the encoder information by theprocessing unit.

In an embodiment of the invention, the step of controlling, by theprocessing unit, the robotic arm to move a plurality of times tosequentially obtain the plurality of second images of the robotic arm bythe camera unit includes the following step. The robotic arm iscontrolled to move at least three times by the processing unit tosequentially obtain at least three second images of the robotic arm bythe camera unit.

In an embodiment of the invention, the step of analyzing, by theprocessing unit, the plurality of second images and the encoderinformation of the robotic arm to obtain the second spatial positioningdata includes the following step. An end feature of the robotic arm inthe second images is respectively analyzed by the processing unit toposition the end feature of the robotic arm, and the second positioningdata is obtained through an inverse kinematics operation.

In an embodiment of the invention, the step of determining, by theprocessing unit, whether the error parameter between the first spatialpositioning data and the second spatial positioning data is less thanthe specification value to end the positioning procedure includes thefollowing steps. When the processing unit determines that the errorparameter between the first spatial positioning data and the secondspatial positioning data movement is not less than the specificationvalue, the first spatial positioning data is updated according to thesecond spatial positioning data. The robotic arm is re-controlled by theprocessing unit to move a plurality of times to sequentially obtainanother plurality of second images of the robotic arm by the cameraunit, and repositioning is performed.

In an embodiment of the invention, the camera unit is an RGB-D camera,and the first image includes two-dimensional image information andthree-dimensional image information.

Based on the above, according to the automatic control device and theautomatic positioning method of the invention, the robotic arm may bepositioned by means of image analysis to obtain the spatial positioningdata of the robotic arm, and the spatial positioning information of therobotic arm may be corrected through an inverse kinematics operation, soas to achieve an accurate positioning effect.

To make the aforementioned more comprehensible, several embodimentsaccompanied with drawings are described in detail as follows.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a functional block view of an automatic control deviceaccording to an embodiment of the invention.

FIG. 2 is a schematic view of an automatic control device according toan embodiment of the invention.

FIG. 3 is a flowchart of an automatic positioning method according to anembodiment of the invention.

FIG. 4 is a flowchart of an automatic positioning method according toanother embodiment of the invention.

DESCRIPTION OF THE EMBODIMENTS

To make the content of the invention more comprehensible, embodimentsare described below as examples according to which the invention canindeed be implemented. Wherever possible, the same reference numbers areused in the drawings and the description to refer to the same or likeparts, components or steps.

FIG. 1 is a functional block view of an automatic control deviceaccording to an embodiment of the invention. Referring to FIG. 1, anautomatic control device 100 includes a processing unit 110, a memoryunit 120, a robotic arm 200, and a camera unit 130. The processing unit110 is coupled to the memory unit 120 and the camera unit 130. Moreover,the processing unit 110 of the automatic control device 100 may becoupled to the external robotic arm 200 to control the robotic arm 200.In the present embodiment, the memory unit 120 is configured to record athree-dimensional robotic arm model 121. In the present embodiment, theautomatic control device 100 may perform a positioning correctionprocedure to position the robotic arm 200 by means of image analysis,and obtain first spatial positioning data of the robotic arm 200. In thepresent embodiment, an operator may record the three-dimensional roboticarm model 121 of the robotic arm into the memory unit 120 in advance.The three-dimensional robotic arm model 121 may be, for example, aninput computer aided design (CAD) model, but the invention is notlimited thereto. It should be noted that the robotic arm 200 in thepresent embodiment may be, for example, any type of commerciallyavailable industrial robotic arm. An accurate automatic positioningeffect and an accurate automatic control effect can be implemented usingthe automatic control device 100 in the present embodiment.

In the present embodiment, the processing unit 110 may be an imagesignal processor (ISP), a central processing unit (CPU), amicroprocessor, a digital signal processor (DSP), a programmable logiccontroller (PLC), an application specific integrated circuit (ASIC), asystem on chip (SoC), or other similar components or a combination ofthe foregoing components. No limitation is imposed in the invention.

In the present embodiment, the memory unit 120 may be a dynamic randomaccess memory (DRAM), a flash memory, or a non-volatile random accessmemory (NVRAM). No limitation is imposed in the invention. The memoryunit 120 may be configured to record a three-dimensional model, imagedata, a control module, various analysis modules, and the like in theembodiments of the invention to be read and performed by the processingunit 110.

In the present embodiment, the robotic arm 200 may be uniaxial ormultiaxial, and can seize an object, move an object, and the like. Inthe present embodiment, the camera unit 130 may be a RGB-D camera, andmay be configured to obtain both two-dimensional image information andthree-dimensional image information to be provided to the processingunit 110 for analysis, for example, image recognition, depthmeasurement, robotic arm recognition, positioning processing, or thelike, so as to implement an automatic positioning procedure and anautomatic positioning method in the embodiments of the invention. Inaddition, in the present embodiment, the robotic arm 200 and the cameraunit 130 are movable. In particular, the camera unit 130 may be mountedon another robotic arm and operated by the processing unit 110, so thatthe camera unit 130 can automatically follow or automatically search forthe robotic arm 200 to obtain one or more images (hereinafter referredto as a first image) of the robotic arm 200. In an embodiment, thecamera unit 130 may also be moved by another processing unit or theoperator, and the camera unit 130 may be operated by the anotherprocessing unit or the operator to obtain the first image of the roboticarm 200.

FIG. 2 is a schematic view of an automatic control device according toan embodiment of the invention. Referring to FIG. 1 and FIG. 2, in thepresent embodiment, when executing a positioning procedure, theautomatic control device 100 may first define a spatial position of thecamera unit 130. For example, the camera unit 130 may be mounted onanother robotic arm 131 or a base, or may be held in hand. The cameraunit 130 may determine a spatial position of the camera unit 130 aftermovement (manual or automatic) based on encoder information on theanother robotic arm 131, or may determine the spatial position based onmember information of the base or in optical or inertial or otherpositioning manners. Next, when the camera unit 130 is moved to aposition corresponding to the robotic arm 200, the automatic controldevice 100 may obtain a first image of the robotic arm 200 by the cameraunit 130 and analyze the first image by the processing unit 110. In thepresent embodiment, the first image includes a two-dimensional image anda three-dimensional image. In other words, the processing unit 110 mayobtain two-dimensional image information and depth information accordingto the first image.

In the present embodiment, the processing unit 110 may first analyze arobotic arm image and a working environment image in the first image toestablish a three-dimensional working environment model. However, in anembodiment, the three-dimensional working environment model may also beestablished by an additional external processing unit, and then theadditional external processing unit transmits the three-dimensionalworking environment model to the processing unit 110. That is, theadditional external processing unit may detect the position of thecamera unit 130 by a sensor or receiving operation data of the anotherrobotic arm 131 and receive the first image of the robotic arm 200 fromthe camera unit 130, and may analyze the robotic arm image and theworking environment image in the first image. In the present embodiment,the three-dimensional working environment model may be a simultaneouslocalization and mapping (SLAM) model, but the invention is not limitedthereto. Next, in the present embodiment, the processing unit 110 mayread the memory unit 120 to obtain the three-dimensional robotic armmodel 121 corresponding to the robotic arm 200, and read encoderinformation of the robotic arm 200. The encoder information includes,for example, information such as control program code and a controlparameter the robotic arm 200. The processing unit 110 may correct thethree-dimensional robotic arm model 121 according to the encoderinformation of the robotic arm 200, so that the three-dimensionalrobotic arm model 121 in an original posture may be corrected to acurrent posture of the robotic arm 200. Moreover, the processing unit110 combines the corrected three-dimensional robotic arm model with thethree-dimensional working environment model to complete informationabout the three-dimensional working environment model, so as tofacilitate positioning. In other words, the processing unit 110 mayposition a virtual robotic arm in the three-dimensional workingenvironment model according to the three-dimensional robotic arm modeland the three-dimensional working environment model, to effectivelyobtain the first spatial positioning data. It should be noted that, inthe present embodiment, the first spatial positioning data refers to aposition of an end feature of the virtual robotic arm derived by theprocessing unit 110 through a forward kinematics operation based onpre-fixed positioning data of a base 202 of the robotic arm 200 and thethree-dimensional robotic arm model 121. In the present embodiment, theend feature may refer to a jaw 201 corresponding to the robotic arm 200.Moreover, the forward kinematics operation may be designed based onforward kinematics, but the invention is not limited thereto.

However, in the present embodiment, since there may be an error betweenthe first spatial positioning data obtained through analysis of thethree-dimensional working environment model and an actual position ofthe jaw 201 at an end of the robotic arm 200, in order to furtherimprove accuracy of positioning, the processing unit 110 in the presentembodiment may further perform positioning correction. In particular,the processing unit 110 may control the robotic arm 200 to move aplurality of times, and for each movement result of the robotic arm 200,the processing unit 110 may sequentially obtain a plurality of secondimages of the robotic arm 200 by the camera unit 130. In the presentembodiment, the second image is a two-dimensional image, so that theprocessing unit 110 may obtain two-dimensional image information basedon the second image, but the invention is not limited thereto. In anembodiment, the second image may also include both a two-dimensionalimage and a three-dimensional image. In the present embodiment, theprocessing unit 110 analyzes an end feature of the robotic arm 200 inthe second images and performs an inverse kinematics operation toobtain, as second spatial positioning data, data about the position ofthe jaw 201 of the end feature corresponding to a movement result of therobotic arm 200. In the present embodiment, the inverse kinematicsoperation may be designed based on inverse kinematics, but the inventionis not limited thereto.

Next, the processing unit 110 derives first spatial positioning data ofthe robotic arm 200 in the three-dimensional working environment modelusing the encoder information of the robotic arm 200 and the firstspatial positioning data after movement. The processing unit 110 maydetermine whether a position error between the first spatial positioningdata and the second spatial positioning data is less than aspecification value after movement. When the position error between thefirst spatial positioning data and the second spatial positioning dataafter movement is less than the specification value, it indicates thatthe robotic arm 200 is accurately positioned, and therefore theprocessing unit 110 ends the positioning procedure. On the contrary,when the position error between the first spatial positioning data aftermovement and the second spatial positioning data is not less than thestandard value, it indicates that positioning of the robotic arm 200still has an error. Therefore, the processing unit 110 updates the firstspatial positioning data according to the second spatial positioningdata, to replace the first spatial positioning data with the secondspatial positioning data, and performs repositioning until the roboticarm 200 is accurately positioned. Accordingly, the automatic controldevice 100 in the present embodiment can accurately position the roboticarm 200.

FIG. 3 is a flowchart of an automatic positioning method according to anembodiment of the invention. Referring to FIG. 1 to FIG. 3, theautomatic positioning method in the present embodiment may be applied tothe automatic control device 100 and the robotic arm 200 in theembodiments in FIG. 1 and FIG. 2. In step S301, the processing unit 110executes a positioning procedure. In step S302, the camera unit 130 ismoved to a position corresponding to the robotic arm 200. In the presentembodiment, the camera unit 130 is controlled by the processing unit 110to move to the position corresponding to the robotic arm 200, and thenthe processing unit 110 operates the camera unit 130 to obtain the firstimage of the robotic arm 200. However, in an embodiment, the camera unit130 may also be moved by another processing unit or the operator. Afterthe camera unit 130 is moved to the position corresponding to therobotic arm to obtain the first image of the robotic arm, the processingunit 110 may detect the position of the camera unit 130 and receive thefirst image of the robotic arm 200 from the camera unit 130. In stepS303, it is determined whether information about a working environmentincluding the robotic arm 200 is collected. If no, the processing unit110 performs step S302 again. If yes, the processing unit performs stepS304. In step S304, the processing unit 110 analyzes the first image toestablish a three-dimensional working environment model. In step S305,the processing unit 110 performs positioning according to athree-dimensional robotic arm model and the three-dimensional workingenvironment model to obtain first spatial positioning data. In stepS306, the processing unit 110 controls the robotic arm 200 to move. Instep S307, the processing unit 110 obtains a second image of the roboticarm 200 by the camera unit 130, and determines whether the robotic armis moved N times, where n is a positive integer greater than or equal to3. If no, the processing unit 110 performs step S306 again. If yes, theprocessing unit 110 performs step S308. In step S308, the processingunit 110 analyzes N second images, and obtains the second spatialpositioning data of the robotic arm through an inverse kinematicsoperation. In step S309, the processing unit 110 determines whether anerror parameter between the first spatial positioning data and thesecond spatial positioning data is less than a specification value. Ifno, the processing unit 110 performs step S310. In step S310, theprocessing unit 110 updates the first spatial positioning data accordingto the second spatial positioning data, and performs step 306 again. Ifyes, the processing unit 110 performs step S311 to end the positioningprocedure. Therefore, the automatic control device 100 in the presentembodiment can accurately position the robotic arm 200.

FIG. 4 is a flowchart of an automatic positioning method according to anembodiment of the invention. Referring to FIG. 1 to FIG. 4, a process ofthe automatic positioning method in the present embodiment may beapplied to at least the automatic control device 100 in the embodimentin FIG. 1. In step S410, the camera unit 130 obtains a first image ofthe robotic arm 200 during execution of a positioning procedure. In stepS420, the processing unit 110 obtains the first image to establish athree-dimensional working environment model and first spatialpositioning data. In step S430, the processing unit 110 controls therobotic arm 200 to move a plurality of times to sequentially obtain aplurality of second images of the robotic arm 200 by the camera unit130. In step S440, the processing unit 110 analyzes the plurality ofsecond images and encoder information of the robotic arm 200 to obtainsecond spatial positioning data. In step S450, the processing unitdetermines whether an error parameter between the first spatialpositioning data and the second spatial positioning data is less than aspecification value to end the positioning procedure. Therefore, theautomatic positioning method in the present embodiment can provideaccurate operations for positioning the robotic arm.

In conclusion, according to the automatic control device and theautomatic positioning method of the invention, a two-dimensional imageand a three-dimensional image of the robotic arm may be taken toestablish the three-dimensional working environment model including therobotic arm, and the first spatial positioning data of the robotic armis obtained using the pre-established robotic arm model. In addition,according to the automatic control device and the automatic positioningmethod of the invention, a plurality of two-dimensional images may befurther obtained after movement of the robotic arm, and the firstspatial positioning data is corrected through an inverse kinematicsoperation. Therefore, the automatic control device and the automaticpositioning method of the invention can provide an accurate automaticpositioning function and an accurate automatic positioning correctionfunction.

Although the invention is described with reference to the aboveembodiments, the embodiments are not intended to limit the invention. Aperson of ordinary skill in the art may make variations andmodifications without departing from the spirit and scope of theinvention. Therefore, the protection scope of the invention should besubject to the appended claims.

What is claimed is:
 1. An automatic control device, comprising: aprocessing unit; and a camera unit coupled to the processing unit andconfigured to obtain a first image of a robotic arm when the processingunit executes a positioning procedure; and a memory unit coupled to theprocessing unit and configured to record a three-dimensional robotic armmodel of the robotic arm, wherein the processing unit obtains athree-dimensional working environment model and first spatialpositioning data; wherein the processing unit controls the robotic armto move a plurality of times to sequentially obtain a plurality ofsecond images of the robotic arm by the camera unit, and the processingunit analyzes the second images and encoder information of the roboticarm to obtain second spatial positioning data; and wherein theprocessing unit determines whether an error parameter between the firstspatial positioning data and the second spatial positioning data aftermovement is less than a specification value to end the positioningprocedure, wherein the processing unit positions a virtual robotic armin the three-dimensional working environment model according to thethree-dimensional robotic arm model and the three-dimensional workingenvironment model to obtain the first spatial positioning data.
 2. Theautomatic control device according to claim 1, the processing unitanalyzes the first image to establish the three-dimensional workingenvironment model and obtain the first spatial positioning data, oranother processing unit analyzes the first image to establish thethree-dimensional working environment model, obtain the first spatialpositioning data, and transmit the three-dimensional working environmentmodel and the first spatial positioning data to the processing unit. 3.The automatic control device according to claim 1, wherein theprocessing unit controls the camera unit when the processing unitexecutes the positioning procedure, so as to move the camera unit to aposition corresponding to the robotic arm and operate the camera unit toobtain the first image of the robotic arm.
 4. The automatic controldevice according to claim 1, wherein after the camera unit is moved tothe position corresponding to the robotic arm to obtain the first imageof the robotic arm, the processing unit detects a position of the cameraunit and receives the first image of the robotic arm from the cameraunit.
 5. The automatic control device according to claim 1, wherein theprocessing unit corrects the three-dimensional robotic arm modelaccording to the encoder information.
 6. The automatic control deviceaccording to claim 1, wherein the processing unit controls the roboticarm to move at least three times to sequentially obtain at least threesecond images of the robotic arm by the camera unit.
 7. The automaticcontrol device according to claim 1, wherein the processing unitrespectively analyzes an end feature of the robotic arm in the secondimages to position the end feature of the robotic arm and obtain thesecond positioning data through an inverse kinematics operation.
 8. Theautomatic control device according to claim 1, wherein, the processingunit updates the first spatial positioning data according to the secondspatial positioning data and re-controls the robotic arm to move aplurality of times when the processing unit determines that the errorparameter between the first spatial positioning data and the secondspatial positioning data is not less than the specification value, so asto sequentially obtain another plurality of second images of the roboticarm by the camera unit and perform repositioning.
 9. The automaticcontrol device according to claim 1, wherein the camera unit is an RGB-Dcamera, and the first image comprises two-dimensional image informationand three-dimensional image information.
 10. An automatic positioningmethod applicable to an automatic control device and a robotic arm,wherein the automatic control method comprises: obtaining, by a cameraunit, a first image of a robotic arm during execution of a positioningprocedure; obtaining, by a processing unit, a three-dimensional workingenvironment model and first spatial positioning data; controlling, bythe processing unit, the robotic arm to move a plurality of times tosequentially obtain a plurality of second images of the robotic arm bythe camera unit; analyzing, by the processing unit, the second imagesand encoder information of the robotic arm to obtain second spatialpositioning data; and determining, by the processing unit, whether anerror parameter between the first spatial positioning data and thesecond spatial positioning data after movement is less than aspecification value to end the positioning procedure, wherein the stepof analyzing, by the processing unit, the first image to establish thethree-dimensional working environment model and obtaining the firstspatial positioning data comprises: positioning, by the processing unit,a virtual robotic arm in the three-dimensional working environment modelaccording to a three-dimensional robotic arm model recorded in a memoryunit and the three-dimensional working environment model to obtain thefirst spatial positioning data.
 11. The automatic positioning methodaccording to claim 10, wherein the step of obtaining, by the processingunit, the three-dimensional working environment model and the firstspatial positioning data comprises: analyzing, by the processing unit,the first image to establish the three-dimensional working environmentmodel and obtain the first spatial positioning data; or analyzing, byanother processing unit, the first image to establish thethree-dimensional working environment model, obtain the first spatialpositioning data, and transmit the three-dimensional working environmentmodel and the first spatial positioning data to the processing unit. 12.The automatic positioning method according to claim 10, wherein the stepof obtaining, by the camera unit, the first image of the robotic armcomprises: controlling, by the processing unit, the camera unit to moveto a position corresponding to the robotic arm; and operating, by theprocessing unit, the camera unit to obtain the first image of therobotic arm.
 13. The automatic positioning method according to claim 10,wherein the step of obtaining, by the camera unit, the first image ofthe robotic arm comprises: after the camera unit is moved to theposition corresponding to the robotic arm to obtain the first image ofthe robotic arm, detecting, by the processing unit, a position of thecamera unit; and receiving, by the processing unit, the first image ofthe robotic arm from the camera unit.
 14. The automatic positioningmethod according to claim 10, wherein the step of analyzing, by theprocessing unit, the first image to establish the three-dimensionalworking environment model and obtaining the first spatial positioningdata further comprises: correcting, by the processing unit, thethree-dimensional robotic arm model according to the encoderinformation.
 15. The automatic positioning method according to claim 10,wherein the step of controlling, by the processing unit, the robotic armto move a plurality of times to sequentially obtain the second images ofthe robotic arm by the camera unit comprises: controlling, by theprocessing unit, the robotic arm to move at least three times tosequentially obtain at least three second images of the robotic arm bythe camera unit.
 16. The automatic positioning method according to claim10, wherein the step of analyzing, by the processing unit, the secondimages and the encoder information of the robotic arm to obtain thesecond spatial positioning data comprises: respectively analyzing, bythe processing unit, an end feature of the robotic arm in the secondimages to position the end feature of the robotic arm and obtaining thesecond positioning data through an inverse kinematics operation.
 17. Theautomatic positioning method according to claim 10, wherein the step ofdetermining, by the processing unit, whether the error parameter betweenthe first spatial positioning data and the second spatial positioningdata after movement is less than the specification value to end thepositioning procedure comprises: updating the first spatial positioningdata according to the second spatial positioning data when theprocessing unit determines that the error parameter between the firstspatial positioning data and the second spatial positioning data aftermovement is not less than the specification value; and re-controlling,by the processing unit, the robotic arm to move a plurality of times tosequentially obtain another plurality of second images of the roboticarm by the camera unit and performing repositioning.
 18. The automaticpositioning method according to claim 10, wherein the camera unit is anRGB-D camera, and the first image comprises two-dimensional imageinformation and three-dimensional image information.